mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t Struct Reference

Detailed Description

template<class POSE_TRAITS>
struct mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t

Keyframe-to-keyframe edge: an unknown of the problem.

Definition at line 82 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Attributes
TKeyFrameID	from
TKeyFrameID	to
pose_t	inv_pose
	Inverse pose: pose_from (-) pose_to , that is: "from" as seen from "to". More...
size_t	id
	0-based index of this edge, in the std::list "k2k_edges". More...

Member Data Documentation

template<class POSE_TRAITS>

TKeyFrameID mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t::from

Definition at line 84 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::alloc_kf2kf_edge(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::build_opengl_representation(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::get_global_graphslam_problem(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::save_graph_as_dot().

template<class POSE_TRAITS>

size_t mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t::id

0-based index of this edge, in the std::list "k2k_edges".

Definition at line 88 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::alloc_kf2kf_edge(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2k().

template<class POSE_TRAITS>

pose_t mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t::inv_pose

Inverse pose: pose_from (-) pose_to , that is: "from" as seen from "to".

Definition at line 86 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::alloc_kf2kf_edge(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::create_complete_spanning_tree(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::get_global_graphslam_problem().

template<class POSE_TRAITS>

TKeyFrameID mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t::to

Definition at line 85 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::alloc_kf2kf_edge(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::build_opengl_representation(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::create_complete_spanning_tree(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::get_global_graphslam_problem(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::save_graph_as_dot().